modelec/servo_moteurs
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Restructuration globale des methodes du bras et ajout de structure pour gérer les angles du bras

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bap
2024-04-17 18:11:31 +02:00
parent e5c6f2635a
commit 7abe0be7d0
1 changed files with 6 additions and 4 deletions
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10
MyTCPClient.cpp
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@@ -123,8 +123,9 @@ void MyTCPClient::transport_bras(){
this->pwm_setServoPosition(5, angleBrasHaut.servo5-i-angleBrasHaut.servo4);
}
break;
default:
return;
case BRAS_TRANSPORT:
this->pwm_setServoPosition(4, angleBrasTransport.servo4);
this->pwm_setServoPosition(5, angleBrasTransport.servo5);
}
this->positionBras = BRAS_TRANSPORT;
}
@@ -145,8 +146,9 @@ void MyTCPClient::lever_bras() {
usleep(5'000);
}
break;
default:
return;
case BRAS_HAUT:
this->pwm_setServoPosition(4, angleBrasHaut.servo4);
this->pwm_setServoPosition(5, angleBrasHaut.servo5);
}
this->positionBras = BRAS_HAUT;
}